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Vehicle model description and configuration files for the ECA A9 AUV.

Home Page: https://uuvsimulator.github.io/

License: Apache License 2.0

CMake 12.26% Python 24.75% Shell 62.99%

gazebo ros auv uuv swarms-project uuv-simulator underwater-vehicles

eca_a9's Introduction

`uuv_simulator`: Unmanned Underwater Vehicle (UUV) simulation with Gazebo

Link to the uuv_simulator repository here

Link to the documentation page

Chat on Discord

The Unmanned Underwater Vehicle Simulator is a set of packages that include plugins and ROS applications that allow simulation of underwater vehicles in Gazebo.

If you are using this simulator for your publication, please cite:

@inproceedings{Manhaes_2016,
	doi = {10.1109/oceans.2016.7761080},
	url = {https://doi.org/10.1109%2Foceans.2016.7761080},
	year = 2016,
	month = {sep},
	publisher = {{IEEE}},
	author = {Musa Morena Marcusso Manh{\~{a}}es and Sebastian A. Scherer and Martin Voss and Luiz Ricardo Douat and Thomas Rauschenbach},
	title = {{UUV} Simulator: A Gazebo-based package for underwater intervention and multi-robot simulation},
	booktitle = {{OCEANS} 2016 {MTS}/{IEEE} Monterey}
}

In you are willing to contribute to this package, please check the instructions in CONTRIBUTING.

Features

Gazebo/ROS plugins

Implementation of Fossen's equations of motion for underwater vehicles
Thruster modules with implementations for thruster's angular velocity to output thrust force based on Yoerger el al., 1990 and Bessa et al., 2006
Lift and drag plugin for simulation of fins
Simulation of 3D current velocity models (constant or based on first-order Gauss-Markov processes)
Sensor plugins

Controllers

For AUVs
- casadi-based effort allocation algorithm
- Geometric tracking PD controller
For ROVs
- Thruster manager with computation of the thruster allocation matrix based on the thruster frames available in /tf
- Model-based feedback linearization controller (Fossen, 2011)
- Nonlinear PID controller (Fossen, 2011)
- Non-model-based sliding mode controller (García-Valdovinos el al., 2014 and Salgado-Jiménez et al., 2011)
- PD controller with restoration forces compensation
- 6-DOF PID controller
- Singularity-free tracking controller (Fjellstad and Fossen, 1994)
Teleoperation nodes for AUVs and ROVs

Gazebo world models

Ocean wave shaders for wave animation
Scenarios from the SWARMs project demonstration locations (e.g. Mangalia, Romania and Trondheim, Norway)
Subsea BOP panel for manipulation tasks

Vehicle models

Work-class ROV rexrov based on the model presetend in Berg, 2012
eca_a9
lauv_gazebo
desistek_saga
rexrov2

Installation

This packages has been released for the following ROS distributions

kinetic (See installation instructions for ROS Kinetic)
lunar (See installation instructions for ROS Lunar)
melodic (See installation instructions for ROS Melodic)

Once the ros-<distro>-desktop-full package for the desired distribution is installed, the uuv_simulator can be installed as

sudo apt install ros-kinetic-uuv-simulator

sudo apt install ros-lunar-uuv-simulator

sudo apt install ros-melodic-uuv-simulator

For instructions on how to install the package from source, check this instructions page

Purpose of the project

This software is a research prototype, originally developed for the EU ECSEL Project 662107 SWARMs.

The software is not ready for production use. However, the license conditions of the applicable Open Source licenses allow you to adapt the software to your needs. Before using it in a safety relevant setting, make sure that the software fulfills your requirements and adjust it according to any applicable safety standards (e.g. ISO 26262).

License

UUV Simulator is open-sourced under the Apache-2.0 license. See the LICENSE file for details.

For a list of other open source components included in UUV Simulator, see the file 3rd-party-licenses.txt.

Releases

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eca_a9's Issues

namespace error

Got an error when running the below command. @musamarcusso

roslaunch eca_a9_gazebo start_demo_teleop.launch joy_id:=0


... logging to /home/ubuntu/.ros/log/27f5cb12-a5c1-11ec-bb15-2cf05d113d72/roslaunch-ubuntu-ThinkStation-P330-11008.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

xacro: in-order processing became default in ROS Melodic. You can drop the option.
**name 'namespace' is not defined 
when evaluating expression 'namespace'**
when processing file: /home/ubuntu/catkin_ws/src/eca_a9/eca_a9_description/urdf/eca_a9_snippets.xacro
included from: /home/ubuntu/catkin_ws/src/eca_a9/eca_a9_description/urdf/eca_a9_base.xacro
included from: /home/ubuntu/catkin_ws/src/eca_a9/eca_a9_description/robots/eca_a9_default.urdf.xacro
RLException: while processing /home/ubuntu/catkin_ws/src/eca_a9/eca_a9_description/launch/upload_eca_a9.launch:
Invalid <param> tag: Cannot load command parameter [robot_description]: command [['/opt/ros/melodic/lib/xacro/xacro', '/home/ubuntu/catkin_ws/src/eca_a9/eca_a9_description/robots/eca_a9_default.urdf.xacro', '--inorder', 'debug:=0', 'namespace:=eca_a9', 'inertial_reference_frame:=world_ned']] returned with code [2]. 

Param xml is <param command="$(find xacro)/xacro '$(find eca_a9_description)/robots/eca_a9_$(arg mode).urdf.xacro' --inorder                       debug:=$(arg debug)                       namespace:=$(arg namespace)                       inertial_reference_frame:=world_ned" name="robot_description"/>
The traceback for the exception was written to the log file

eca_a9_gazebo start_demo_teleop.launch does not launch

Actually, no launch files launch except for the upload_eca_a9.launch

This is the error for start_demo_teleop.launch:

[INFO] [launch]: All log files can be found below /home/andrey/.ros/log/2022-11-08-17-23-48-860103-LeeNeptune-28112
[INFO] [launch]: Default logging verbosity is set to INFO
Task exception was never retrieved
future: <Task finished name='Task-2' coro=<LaunchService._process_one_event() done, defined at /opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py:226> exception=InvalidLaunchFileError('')>
Traceback (most recent call last):
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py", line 228, in _process_one_event
await self.__process_event(next_event)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py", line 248, in __process_event
visit_all_entities_and_collect_futures(entity, self.__context))
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures
futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures
futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 38, in visit_all_entities_and_collect_futures
sub_entities = entity.visit(context)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/action.py", line 108, in visit
return self.execute(context)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/actions/include_launch_description.py", line 130, in execute
launch_description = self.__launch_description_source.get_launch_description(context)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_description_source.py", line 84, in get_launch_description
self._get_launch_description(self.__expanded_location)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_description_sources/any_launch_description_source.py", line 53, in _get_launch_description
return get_launch_description_from_any_launch_file(location)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_description_sources/any_launch_file_utilities.py", line 56, in get_launch_description_from_any_launch_file
raise InvalidLaunchFileError(extension, likely_errors=exceptions)
launch.invalid_launch_file_error.InvalidLaunchFileError: The launch file may have a syntax error, or its format is unknown

ros2(humble) use eca_a9

Hello, thank you very much for the development of this project. Now I want to use this model to develop with the humble version of ros2. How should I combine the two?

start_demo_teleop.launch InvalidLaunchFileError

Hi, launch the following files:
ros2 launch uuv_gazebo_worlds ocean_waves.launch
ros2 launch eca_a9_gazebo start_demo_teleop.launch joy_id:=0

Refer: https://github.com/GSO-soslab/eca_a9_plankton

but getting the below error:

Task exception was never retrieved
future: <Task finished name='Task-2' coro=<LaunchService._process_one_event() done, defined at /opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py:274> exception=InvalidLaunchFileError('')>
Traceback (most recent call last):
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py", line 276, in _process_one_event
    await self.__process_event(next_event)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py", line 296, in __process_event
    visit_all_entities_and_collect_futures(entity, self.__context))
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures
    futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures
    futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 38, in visit_all_entities_and_collect_futures
    sub_entities = entity.visit(context)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/action.py", line 108, in visit
    return self.execute(context)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/actions/include_launch_description.py", line 125, in execute
    launch_description = self.__launch_description_source.get_launch_description(context)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_description_source.py", line 84, in get_launch_description
    self._get_launch_description(self.__expanded_location)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_description_sources/any_launch_description_source.py", line 53, in _get_launch_description
    return get_launch_description_from_any_launch_file(location)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_description_sources/any_launch_file_utilities.py", line 56, in get_launch_description_from_any_launch_file
    raise InvalidLaunchFileError(extension, likely_errors=exceptions)
launch.invalid_launch_file_error.InvalidLaunchFileError: The launch file may have a syntax error, or its format is unknown

start_demo_auv_control.launch control data record

Hi,
I'm working on my master thesis and I found the simulation very interesting .
I'm running the following launch file :
start_demo_auv_control.launch
Gazebo and rviz are running smoothly

I'm trying to record the following actors only:
/eca_a9/thrusters/0/thrust
/eca_a9/thrusters/0/input
/eca_a9/fins/0/input
/eca_a9/fins/0/output

Should I able to see in the bag file the angle of fin or values of the thrust per time ?

I'm open the file in MATLAB and I'm only get Time, Topic, MessageType, Fileoffeset

What is required in order to analysis the control data for the fines angles and the propeller thrust from the running simulation?

Thank

Gal

Add Travis CI configuration for ECA A9 repository

start_demo_nmb_sm.launch - AUV just float up

Hi, launch the following files:
roslaunch uuv_descriptions auv_underwater_world.launch
roslaunch eca_a9_gazebo start_demo_nmb_sm.launch

every things look OK on screen, but the AUV doesn't start to moved as expected he just float up:

roslaunch eca_a9_gazebo start_demo_nmb_sm.launch
... logging to /home/gal/.ros/log/1b4ddc78-8a7d-11e8-888c-9cb6d0f2f06b/roslaunch-gal-XPS-15-9560-3655.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

redefining global property: gamma
when processing file: /home/gal/catkin/src/eca_a9/eca_a9_description/urdf/eca_a9_sensors.xacro
included from: /home/gal/catkin/src/eca_a9/eca_a9_description/robots/eca_a9_default.urdf.xacro
started roslaunch server http://gal-XPS-15-9560:40195/

SUMMARY

PARAMETERS

/eca_a9/control_allocator/base_link: base_link
/eca_a9/control_allocator/fin_config/fin_area: 0.04155
/eca_a9/control_allocator/fin_config/fluid_density: 1028.0
/eca_a9/control_allocator/fin_config/frame_base: fin
/eca_a9/control_allocator/fin_config/lift_coefficient: 3.0
/eca_a9/control_allocator/fin_config/lower_limit: -1.4
/eca_a9/control_allocator/fin_config/topic_prefix: fins
/eca_a9/control_allocator/fin_config/topic_suffix: input
/eca_a9/control_allocator/fin_config/upper_limit: 1.4
/eca_a9/control_allocator/output_dir: /home/gal/catkin/...
/eca_a9/control_allocator/thruster_config/conversion_fcn: proportional
/eca_a9/control_allocator/thruster_config/conversion_fcn_params/gain: 4.9e-05
/eca_a9/control_allocator/thruster_config/conversion_fcn_params/input: [0, 1, 2, 3]
/eca_a9/control_allocator/thruster_config/conversion_fcn_params/output: [0, 1, 2, 3]
/eca_a9/control_allocator/thruster_config/frame_base: thruster_
/eca_a9/control_allocator/thruster_config/max_thrust: 700
/eca_a9/control_allocator/thruster_config/topic_prefix: thrusters
/eca_a9/control_allocator/thruster_config/topic_suffix: input
/eca_a9/control_allocator/timeout: -1
/eca_a9/control_allocator/update_rate: 10
/eca_a9/robot_description: <?xml version="1....
/eca_a9/robot_state_publisher/publish_frequency: 5
/eca_a9/robot_state_publisher/robot_description: /eca_a9/robot_des...
/eca_a9/rov_nmb_sm_controller/Kd: [24.3289994058185...
/eca_a9/rov_nmb_sm_controller/Ki: [0.00102327681525...
/eca_a9/rov_nmb_sm_controller/dubins/max_pitch: 0.09
/eca_a9/rov_nmb_sm_controller/dubins/radius: 25
/eca_a9/rov_nmb_sm_controller/inertial_frame_id: world
/eca_a9/rov_nmb_sm_controller/look_ahead_delay: 2.0
/eca_a9/rov_nmb_sm_controller/max_forward_speed: 3.0
/eca_a9/rov_nmb_sm_controller/min_thrust: 40
/eca_a9/rov_nmb_sm_controller/saturation: 200
/eca_a9/rov_nmb_sm_controller/slope: [0.99038586689920...
/eca_a9/rov_nmb_sm_controller/thrusters_only: False
/eca_a9/rov_nmb_sm_controller/use_stamped_poses_only: False
/eca_a9/send_waypoint_file/filename: /home/gal/catkin/...
/eca_a9/send_waypoint_file/interpolator: dubins
/eca_a9/send_waypoint_file/start_time: -1
/ground_truth_to_tf_eca_a9/child_frame_id: /eca_a9/base_link
/ground_truth_to_tf_eca_a9/footprint_frame_id: /eca_a9/base_foot...
/ground_truth_to_tf_eca_a9/frame_id: /world
/ground_truth_to_tf_eca_a9/odometry_topic: /eca_a9/pose_gt
/ground_truth_to_tf_eca_a9/stabilized_frame_id: /eca_a9/base_stab...
/rosdistro: kinetic
/rosversion: 1.12.13

NODES
/eca_a9/
control_allocator (uuv_auv_control_allocator/control_allocator)
robot_state_publisher (robot_state_publisher/robot_state_publisher)
rov_nmb_sm_controller (uuv_trajectory_control/rov_nmb_sm_controller.py)
send_waypoint_file (uuv_control_utils/send_waypoint_file.py)
trajectory_marker_publisher (uuv_control_utils/trajectory_marker_publisher.py)
urdf_spawner (uuv_descriptions/spawn_model)
/
ground_truth_to_tf_eca_a9 (message_to_tf/message_to_tf)
rviz (rviz/rviz)

ROS_MASTER_URI=http://localhost:11311

process[eca_a9/urdf_spawner-1]: started with pid [3676]
process[eca_a9/robot_state_publisher-2]: started with pid [3677]
process[ground_truth_to_tf_eca_a9-3]: started with pid [3678]
process[eca_a9/trajectory_marker_publisher-4]: started with pid [3684]
process[eca_a9/control_allocator-5]: started with pid [3702]
[ WARN] [1531913067.577716817]: The root link eca_a9/base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF.
process[eca_a9/rov_nmb_sm_controller-6]: started with pid [3717]
process[rviz-7]: started with pid [3731]
process[eca_a9/send_waypoint_file-8]: started with pid [3738]
[ INFO] [1531913067.802023902]: rviz version 1.12.16
[ INFO] [1531913067.802071269]: compiled against Qt version 5.5.1
[ INFO] [1531913067.802096208]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1531913068.018864454]: Stereo is NOT SUPPORTED
[ INFO] [1531913068.018940320]: OpenGl version: 3 (GLSL 1.3).
[INFO] [1531913068.063954, 0.000000]: Send a waypoint file, namespace=/eca_a9/
[ERROR] [1531913068.071306, 0.000000]: Negative start time, setting it to 0.0
Starting trajectory and waypoint marker publisher
Starting Non-model-based Sliding Mode Controller
Package pymap3d is not available, WGS84 coordinates cannot be used
Download pymap3d for Python 2.7 as

sudo pip install pymap3d==1.5.2
or for Python 3.x as
sudo pip install pymap3d
spawn_model script started
ECA_A9 -- 2018-07-18 12:24:28,757 | INFO | dp_controller_base | Setting controller as non-model-based
ECA_A9 -- 2018-07-18 12:24:28,765 | INFO | wp_trajectory_generator | Waypoint interpolators available:
ECA_A9 -- 2018-07-18 12:24:28,766 | INFO | wp_trajectory_generator | - cubic
ECA_A9 -- 2018-07-18 12:24:28,766 | INFO | wp_trajectory_generator | - lipb
ECA_A9 -- 2018-07-18 12:24:28,767 | INFO | wp_trajectory_generator | - dubins
ECA_A9 -- 2018-07-18 12:24:28,767 | INFO | wp_trajectory_generator | - linear
ECA_A9 -- 2018-07-18 12:24:28,769 | INFO | dp_controller_local_planner | Max. forward speed [m/s]=3.00
ECA_A9 -- 2018-07-18 12:24:28,771 | INFO | dp_controller_local_planner | Idle circle radius [m] = 10.00
ECA_A9 -- 2018-07-18 12:24:28,778 | INFO | dp_controller_local_planner | Inertial frame ID=world
[INFO] [1531913068.811194, 0.000000]: Loading model xml from ros parameter
[INFO] [1531913068.829972, 0.000000]: Using the ENU coordinates to spawn the model
[INFO] [1531913068.830475, 0.000000]: Initial position wrt the world frame: (0.00, 0.00, -20.00)
[INFO] [1531913068.830919, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[INFO] [1531913068.833761, 0.000000]: Calling service /gazebo/spawn_urdf_model
[INFO] [1531913068.834791, 0.000000]: Initialize control allocator for vehicle <eca_a9>
[INFO] [1531913068.851621, 0.000000]: Lookup transfrom from eca_a9/base_link_ned to eca_a9/base_link
ECA_A9 -- 2018-07-18 12:24:28,882 | INFO | dp_controller_local_planner | Transform world_ned (NED) to world (ENU)=
[[ -3.74939946e-33 1.00000000e+00 1.22464680e-16]
[ 1.00000000e+00 -4.44089210e-16 -2.46519033e-32]
[ 0.00000000e+00 1.22464680e-16 -1.00000000e+00]]
ECA_A9 -- 2018-07-18 12:24:28,883 | INFO | dp_controller_local_planner | Inertial frame ID=world
ECA_A9 -- 2018-07-18 12:24:28,883 | INFO | dp_controller_local_planner | Max. forward speed = 3.0
ECA_A9 -- 2018-07-18 12:24:28,886 | INFO | dp_controller_local_planner | No parameters for interpolation method found
ECA_A9 -- 2018-07-18 12:24:28,887 | INFO | dp_controller_local_planner | No parameters for interpolation method found
ECA_A9 -- 2018-07-18 12:24:28,889 | INFO | dp_controller_local_planner | Parameters for interpolation method found
ECA_A9 -- 2018-07-18 12:24:28,892 | INFO | dp_controller_local_planner | {'radius': 25, 'max_pitch': 0.09}
ECA_A9 -- 2018-07-18 12:24:28,896 | INFO | dp_controller_local_planner | No parameters for interpolation method found
No transform found between base_link and base_link_ned for vehicle eca_a9
"eca_a9/base_link" passed to lookupTransform argument target_frame does not exist.
Transform world_ned (NED) to world (ENU)=
[[ -3.74939946e-33 1.00000000e+00 1.22464680e-16]
[ 1.00000000e+00 -4.44089210e-16 -2.46519033e-32]
[ 0.00000000e+00 1.22464680e-16 -1.00000000e+00]]
[INFO] [1531913068.978925, 11.070000]: ControlAllocator: updating thruster poses
[INFO] [1531913068.979361, 11.070000]: Lookup: Thruster transform found eca_a9/base_link -> eca_a9/thruster_0
ECA_A9 -- 2018-07-18 12:24:28,995 | INFO | dp_controller_local_planner | Start waypoint trajectory now!
ECA_A9 -- 2018-07-18 12:24:28,995 | INFO | dp_controller_local_planner | STATION KEEPING MODE = ON
ECA_A9 -- 2018-07-18 12:24:28,996 | INFO | wp_trajectory_generator | Interpolation method set: dubins
ECA_A9 -- 2018-07-18 12:24:29,018 | INFO | dp_controller_base | DP controller successfully initialized
ECA_A9 -- 2018-07-18 12:24:29,018 | INFO | rov_nmb_sm_controller | Initializing: Model-free Sliding Mode Controller
ECA_A9 -- 2018-07-18 12:24:29,020 | INFO | rov_nmb_sm_controller | K=[ 0. 0. 0. 0. 0. 0.]
ECA_A9 -- 2018-07-18 12:24:29,025 | INFO | rov_nmb_sm_controller | Kd=[ 24.32899941 95.16574837 25.94337741 0. 6.38837136
79.28449769]
ECA_A9 -- 2018-07-18 12:24:29,030 | INFO | rov_nmb_sm_controller | Ki=[ 0.00102328 0.00102328 0.00102328 0. 0.11901644 0.11901644]
ECA_A9 -- 2018-07-18 12:24:29,032 | INFO | rov_nmb_sm_controller | slope=[ 0.99038587 0.99038587 0.99038587 0. 0.20796466 0.20796466]
ECA_A9 -- 2018-07-18 12:24:29,033 | INFO | rov_nmb_sm_controller | Saturation limits=0.8
ECA_A9 -- 2018-07-18 12:24:29,035 | INFO | rov_nmb_sm_controller | Model-free Sliding Mode Controller ready
[INFO] [1531913069.501274, 11.070000]: Spawn status: SpawnModel: Successfully spawned entity
[eca_a9/urdf_spawner-1] process has finished cleanly
log file: /home/gal/.ros/log/1b4ddc78-8a7d-11e8-888c-9cb6d0f2f06b/eca_a9-urdf_spawner-1*.log
ECA_A9 -- 2018-07-18 12:24:29,883 | INFO | wp_trajectory_generator | Setting new starting time, t=11.12 s
ECA_A9 -- 2018-07-18 12:24:29,883 | ERROR | dp_controller_local_planner | Error generating trajectory message
ECA_A9 -- 2018-07-18 12:24:29,883 | INFO | dp_controller_local_planner | STATION KEEPING MODE = OFF
ECA_A9 -- 2018-07-18 12:24:29,883 | INFO | dp_controller_local_planner | AUTOMATIC MODE = ON
ECA_A9 -- 2018-07-18 12:24:29,883 | INFO | dp_controller_local_planner | TRAJECTORY TRACKING = ON
ECA_A9 -- 2018-07-18 12:24:29,884 | INFO | dp_controller_local_planner | ============================
ECA_A9 -- 2018-07-18 12:24:29,884 | INFO | dp_controller_local_planner | IMPORT WAYPOINTS FROM FILE
ECA_A9 -- 2018-07-18 12:24:29,884 | INFO | dp_controller_local_planner | ============================
ECA_A9 -- 2018-07-18 12:24:29,884 | INFO | dp_controller_local_planner | Filename = /home/gal/catkin/src/eca_a9/eca_a9_gazebo/config/waypoint_set.yaml
ECA_A9 -- 2018-07-18 12:24:29,884 | INFO | dp_controller_local_planner | Interpolator = dubins
ECA_A9 -- 2018-07-18 12:24:29,884 | INFO | dp_controller_local_planner | # waypoints = 4
ECA_A9 -- 2018-07-18 12:24:29,884 | INFO | dp_controller_local_planner | Starting time = 11.12
ECA_A9 -- 2018-07-18 12:24:29,884 | INFO | dp_controller_local_planner | Inertial frame ID = world
ECA_A9 -- 2018-07-18 12:24:29,884 | INFO | dp_controller_local_planner | ============================
ECA_A9 -- 2018-07-18 12:24:29,885 | INFO | dp_controller_local_planner | Adding waypoints to approach the first position in the given waypoint set
[INFO] [1531913069.885240, 11.120000]: Waypoints file successfully received, filename=/home/gal/catkin/src/eca_a9/eca_a9_gazebo/config/waypoint_set.yaml
[INFO] [1531913070.087089, 11.320000]: Thruster transform found eca_a9/base_link -> eca_a9/thruster_0
[eca_a9/send_waypoint_file-8] process has finished cleanly
log file: /home/gal/.ros/log/1b4ddc78-8a7d-11e8-888c-9cb6d0f2f06b/eca_a9-send_waypoint_file-8*.log
[INFO] [1531913070.088895, 11.320000]: pos=[-0.9676 0. 0. ]
[INFO] [1531913070.089788, 11.320000]: rot=[ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.03411554e-13]
Thruster #0 - proportional - /eca_a9/thrusters/0/input
[INFO] [1531913070.092585, 11.320000]: Thruster model:
[INFO] [1531913070.093600, 11.320000]: Gain=4.9e-05
[INFO] [1531913070.094148, 11.330000]: Lookup: Fin transform found eca_a9/base_link -> eca_a9/fin0
[INFO] [1531913070.094685, 11.330000]: Fin transform found eca_a9/base_link -> eca_a9/fin0
[INFO] [1531913070.095373, 11.330000]: pos=[-0.70777 -0.07876 0.078586]
[INFO] [1531913070.096675, 11.330000]: quat=[ 0.38172247 -0.06525197 -0.02702841 0.92157452]
[INFO] [1531913070.098257, 11.330000]: Lookup: Fin transform found eca_a9/base_link -> eca_a9/fin1
[INFO] [1531913070.098644, 11.330000]: Fin transform found eca_a9/base_link -> eca_a9/fin1
[INFO] [1531913070.099059, 11.330000]: pos=[-0.70777 -0.07876 -0.078586]
[INFO] [1531913070.099460, 11.330000]: quat=[ 0.92157593 -0.02702865 -0.06525187 0.38171908]
[INFO] [1531913070.101010, 11.330000]: Lookup: Fin transform found eca_a9/base_link -> eca_a9/fin2
[INFO] [1531913070.102257, 11.330000]: Fin transform found eca_a9/base_link -> eca_a9/fin2
[INFO] [1531913070.106140, 11.340000]: pos=[-0.70777 0.07876 -0.078586]
[INFO] [1531913070.107032, 11.340000]: quat=[ 0.92157593 0.02702865 -0.06525187 -0.38171908]
[INFO] [1531913070.109317, 11.340000]: Lookup: Fin transform found eca_a9/base_link -> eca_a9/fin3
[INFO] [1531913070.110180, 11.340000]: Fin transform found eca_a9/base_link -> eca_a9/fin3
[INFO] [1531913070.110971, 11.340000]: pos=[-0.70777 0.07876 0.078586]
[INFO] [1531913070.111751, 11.340000]: quat=[-0.38172247 -0.06525197 0.02702841 0.92157452]
[INFO] [1531913070.114363, 11.350000]: # fins found: 4
[INFO] [1531913070.114660, 11.350000]: 0
[INFO] [1531913070.115078, 11.350000]: [-0.70777 -0.07876 0.078586]
[INFO] [1531913070.116143, 11.350000]: [[ 9.90023291e-01 1.09102575e-06 -1.40903812e-01]
[ -9.96336682e-02 7.07114847e-01 -7.00044088e-01]
[ 9.96344138e-02 7.07098715e-01 7.00060277e-01]]
[INFO] [1531913070.117171, 11.350000]: 1
[INFO] [1531913070.117590, 11.350000]: [-0.70777 -0.07876 -0.078586]
[INFO] [1531913070.123459, 11.350000]: [[ 9.90023291e-01 -2.12616973e-06 -1.40903812e-01]
[ -9.96336682e-02 -7.07119990e-01 -7.00038893e-01]
[ -9.96344138e-02 7.07093572e-01 -7.00065471e-01]]
[INFO] [1531913070.127670, 11.360000]: 2
[INFO] [1531913070.130530, 11.360000]: [-0.70777 0.07876 -0.078586]
[INFO] [1531913070.131931, 11.360000]: [[ 9.90023291e-01 2.12616973e-06 -1.40903812e-01]
[ 9.96336682e-02 -7.07119990e-01 7.00038893e-01]
[ -9.96344138e-02 -7.07093572e-01 -7.00065471e-01]]
[INFO] [1531913070.133051, 11.360000]: 3
[INFO] [1531913070.133445, 11.360000]: [-0.70777 0.07876 0.078586]
[INFO] [1531913070.135068, 11.370000]: [[ 9.90023291e-01 -1.09103253e-06 -1.40903812e-01]
[ 9.96336682e-02 7.07114847e-01 7.00044088e-01]
[ 9.96344138e-02 -7.07098715e-01 7.00060277e-01]]
[INFO] [1531913070.137413, 11.370000]: output_dir=/home/gal/catkin/src/eca_a9/eca_a9_control/eca_a9_control/config
ECA_A9 -- 2018-07-18 12:24:30,383 | INFO | dp_controller_local_planner | Updating the trajectory information
ECA_A9 -- 2018-07-18 12:24:30,890 | INFO | dp_controller_local_planner | Updating the trajectory information
ECA_A9 -- 2018-07-18 12:24:31,390 | INFO | dp_controller_local_planner | Adding waypoints to approach the given waypoint trajectory
ECA_A9 -- 2018-07-18 12:24:31,457 | INFO | wp_trajectory_generator | Setting new starting time, t=11.19 s
ECA_A9 -- 2018-07-18 12:24:31,457 | INFO | wp_trajectory_generator | Waypoint interpolator initialized! Start time: 11.19 s

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